2 releases
0.1.1 | Jun 5, 2024 |
---|---|
0.1.0 | May 20, 2024 |
#265 in Embedded development
96KB
1.5K
SLoC
quadrature-encoder
Hardware-level implementations of drivers for incremental encoders with support for full-, half- an quad-stepping.
Incremental Encoder
use quadrature_encoder::{FullStep, IncrementalEncoder};
let mut encoder: IncrementalEncoder<...> = Default::new(pin_clk, pin_dt);
// Update the encoder with pulse trains `a` and `b` and handle the result:
match encoder.poll() {
Ok(Some(movement)) => println!("Movement detected: {movement:?}."),
Ok(None) => println!("No movement detected."),
Err(error) => println!("Error detected: {error:?}."),
}
// Or, if you only care about correctly detected movement:
if let Some(movement) = encoder.poll().unwrap_or_default() {
println!("Movement detected: {movement:?}.")
}
println!("Encoder is at position: {:?}.", encoder.position());
See the examples directory for a more comprehensive example.
Indexed Incremental Encoder
An indexed encoder resets its position whenever a raising edge is detected on the idx
pin.
use quadrature_encoder::{IndexedIncrementalEncoder};
let mut encoder: IndexedIncrementalEncoder<...> = Default::new(pin_clk, pin_dt, pin_idx);
// Update the encoder with pulse trains `a`, `b` and `z` and handle the result:
match encoder.poll() {
Ok(Some(movement)) => println!("Movement detected: {movement:?}."),
Ok(None) => println!("No movement detected."),
Err(error) => println!("Error detected: {error:?}."),
}
// Or, if you only care about correctly detected movement:
if let Some(movement) = encoder.poll().unwrap_or_default() {
println!("Movement detected: {movement:?}.")
}
println!("Encoder is at position: {:?}.", encoder.position());
See the examples directory for a more comprehensive example.
Convenience Aliases
Since the full typename IncrementalEncoder<Mode, ..., Step, T>
can be quite a mouth-full a couple of convenience type-aliases are provided for the most common use-cases:
Rotary Encoders
use quadrature_encoder::{RotaryEncoder, IndexedRotaryEncoder};
let mut encoder: RotaryEncoder::new(pin_clk, pin_dt);
let mut indexed_encoder: IndexedRotaryEncoder::new(pin_clk, pin_dt, pin_idx);
Linear Encoders
use quadrature_encoder::{LinearEncoder, IndexedLinearEncoder};
let mut encoder: LinearEncoder::new(pin_clk, pin_dt);
let mut indexed_encoder: IndexedLinearEncoder::new(pin_clk, pin_dt, pin_idx);
Decoding Strategies
Full-step Decoding
A full-step encoder is able to detect up to 1 change(s) per quadrature cycle.
use quadrature_encoder::{FullStep, IncrementalEncoder};
let mut encoder: IncrementalEncoder<_, _, FullStep> = Default::new(...);
Half-step Decoding
A full-step encoder is able to detect up to 2 change(s) per quadrature cycle.
use quadrature_encoder::{HalfStep, IncrementalEncoder};
let mut encoder: IncrementalEncoder<_, _, HalfStep> = Default::new(...);
Quad-step Decoding
A full-step encoder is able to detect up to 4 change(s) per quadrature cycle.
use quadrature_encoder::{QuadStep, IncrementalEncoder};
let mut encoder: IncrementalEncoder<_, _, QuadStep> = Default::new(...);
Documentation
Please refer to the documentation on docs.rs.
Contributing
Please read CONTRIBUTING.md for details on our code of conduct,
and the process for submitting pull requests to us.
Versioning
We use SemVer for versioning. For the versions available, see the tags on this repository.
License
This project is licensed under the MPL-2.0 – see the LICENSE.md file for details.
Dependencies
~210KB